<!--?xml version="1.0" encoding="utf-8" ?-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml"><head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<meta http-equiv="Content-Language" content="en-US">
 <meta name="generator" content="Adobe RoboHelp 11">
<title>MX-64</title>
<link rel="StyleSheet" href="MX-64_files/default.css" type="text/css">
<script type="text/javascript" language="JavaScript">
//<![CDATA[
function reDo() {
  if (innerWidth != origWidth || innerHeight != origHeight)
     location.reload();
}
if ((parseInt(navigator.appVersion) == 4) && (navigator.appName == "Netscape")) {
	origWidth = innerWidth;
	origHeight = innerHeight;
	onresize = reDo;
}
onerror = null; 
//]]>
</script>
<style type="text/css">
<!--
div.WebHelpPopupMenu { position:absolute;
left:0px;
top:0px;
z-index:4;
visibility:hidden; }
-->
</style>
<script type="text/javascript" language="javascript1.2" src="MX-64_files/whmsg.js" charset="utf-8"></script>
<script type="text/javascript" language="javascript" src="MX-64_files/whver.js" charset="utf-8"></script>
<script type="text/javascript" language="javascript1.2" src="MX-64_files/whutils.js" charset="utf-8"></script>
<script type="text/javascript" language="javascript1.2" src="MX-64_files/whproxy.js" charset="utf-8"></script>
<script type="text/javascript" language="javascript1.2" src="MX-64_files/whlang.js" charset="utf-8"></script>
<script type="text/javascript" language="javascript1.2" src="MX-64_files/whtopic.js" charset="utf-8"></script>

</head>

<body><script type="text/javascript" language="javascript1.2">//<![CDATA[
<!--
if (window.gbWhTopic)
{
	var strUrl = document.location.href;
	var bc = 0;
	var n = strUrl.toLowerCase().indexOf("bc-");
	if(n != -1)
	{
		document.location.replace(strUrl.substring(0, n));
		bc = strUrl.substring(n+3);
	}

	if (window.addTocInfo)
	{
	addTocInfo("Product Information\nDynamixel\nMX Series\nMX-64");
addButton("show",BTN_TEXT,"Show","","","","",0,0,"","","");

	}
	if (window.writeBtnStyle)
		writeBtnStyle();

	if (window.writeIntopicBar)
		writeIntopicBar(1);

	
	document.write("<p style=\"text-align:right\"> ");
AddMasterBreadcrumbs("../../../techsupport_eng.htm", "", ">", "Home", "../../../home.htm");
document.write("<a href=\"../../../product_manual.htm\">Product Information<\/a> > <a href=\"../../dxl_main.htm\">Dynamixel<\/a> > <a href=\"../dxl_mx_main.htm\">MX Series<\/a> > MX-64<\/p>");

}
else
	if (window.gbIE4)
		document.location.reload();

onLoadHandler = function()
{
  if (window.setRelStartPage)
	{
	setTimeout("setRelStartPage('../../../techsupport_eng.htm');", 1)

    setTimeout("UpdateBreadCrumbsMarker();", 1);
	}
}

if (window.addEventListener){  
	window.addEventListener('load', onLoadHandler, false);   
} else if (window.attachEvent){  
	window.attachEvent('onload', onLoadHandler);  
}

function onSetStartPage()
{
  autoSync(1);
  sendSyncInfo();
  sendAveInfoOut();
}
//-->
//]]></script><style type="text/css">.whtbtnshow{font-family:;font-size:10pt;font-style:;font-weight:;text-decoration:;color:;}</style><table width="100%"><tbody><tr><td width="33%"><div align="left"><table cellpadding="2" cellspacing="0" border="0"><tbody><tr><td><a title="Show Navigation Component" class="whtbtnshow" href="javascript:void(0);" onclick="show();return false;">Show</a>&nbsp;</td></tr></tbody></table></div></td></tr></tbody></table><p style="text-align:right"> <span id="brseq0"><a style="" href="http://support.robotis.com/en/home.htm">Home</a> &gt; </span><a href="http://support.robotis.com/en/product_manual.htm">Product Information</a> &gt; <a href="http://support.robotis.com/en/product/dxl_main.htm">Dynamixel</a> &gt; <a href="http://support.robotis.com/en/product/dynamixel/dxl_mx_main.htm">MX Series</a> &gt; MX-64</p>
<script type="text/javascript" src="MX-64_files/ehlpdhtm.js" language="JavaScript1.2"></script>

<div style="width: 100%; position: relative;" id="header">
	<p style="color: #808080; font-style: normal; font-weight: normal;">ROBOTIS 
	 e-Manual&nbsp;v1.24<span style="color: #808080; font-style: normal; 
								 font-weight: normal;"><font color="gray">.00</font></span></p>
</div>


<h1>MX-64T / MX-64R</h1>
<h2 style="font-weight: normal;">Parts Photo</h2>
<p style="text-align: center;"><span style="font-weight: bold;"><img src="MX-64_files/mx_64.jpg" alt="" style="border: none;" height="242" width="186" border="0"> 
 &nbsp;&nbsp;</span><img src="MX-64_files/mx-64r.jpg" alt="" style="border: none;" height="244" width="190" border="0"></p>
<p style="text-align: center; font-weight: bold;">[MX-64T] 
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;[MX-64R]</p>
<p>&nbsp;</p>
<p style="color: #ff0000; font-weight: bold;">※ Control Table’s Compliance 
 replaced by PID.</p>
<p style="font-weight: bold; color: #ff0000;"><span style="font-weight: bold; 
													 color: #ff0000;"><font color="red"><span style="color: #ff0000; font-weight: bold;"><font color="red">※</font></span> <span xml:lang="EN-US" style="mso-bidi-font-size: 12.0pt; mso-hansi-font-family: 'Times New Roman'; 
	 mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; 
	 mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;" lang="EN-US">The 
 control table</span><span xml:lang="EN-US" style="mso-bidi-font-size: 12.0pt; 
							 mso-ascii-font-family: 바탕; mso-fareast-font-family: 바탕; 
							 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; 
							 mso-fareast-language: KO; mso-bidi-language: AR-SA;" lang="EN-US">’</span><span xml:lang="EN-US" style="mso-bidi-font-size: 12.0pt; mso-hansi-font-family: 'Times New Roman'; 
	 mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; 
	 mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;" lang="EN-US">s 
 order for PID has changed to DIP from this version onwards. Please make 
 reference of this change.</span></font></span></p>
<p style="color: #ff0000; font-weight: bold;"><font color="#FF0000"><b style="font-weight: bold;">※</b></font> Although the MX-64T (TTL) 
 and MX-64R (RS-485) differ in communications protocols both have the same 
 features and perform equally. (TTL uses 3-pin connectors while RS-485 
 uses 4)</p>
<p>&nbsp;</p>
<h2>H/W Specification<a name="MainSpec" id="MainSpec"></a></h2>
<ul style="list-style: disc;">
	<li>MCU : ST CORTEX-M3 ( STM32F103C8 @ 72MHZ,32BIT)</li>
	<li><p>POSITION SENSOR : Contactless absolute encoder (12BIT,360 DEGREE)</p></li>
	<li><p>MOTOR : Maxon</p></li>
	<li><p>BAUD RATE : 8000 bps ~ 4.5 Mbps</p></li>
	<li><p>CONTROL ALGORITHM : PID CONTROL</p></li>
	<li><p>Resolution : 0.088°</p></li>
	<li>Running Degree</li>
</ul>
<ul>
	<li style="list-style: none; display: inline;"><ul>
		<li style="list-style: circle;">0° ~ 360°</li>
		<li style="list-style: circle;">Endless Turn</li>
	</ul></li>
	<li>Weight : 126g</li>
	<li>Dimension : 40.2mm x 61.1mm x 41mm</li>
	<li><p>Gear Reduction Ratio : &nbsp;200 : 1</p></li>
	<li>Stall Torque</li>
	<li style="list-style: none; display: inline;"><ul>
		<li style="list-style: circle;">5.5N.m (at 11.1V, 3.9A),</li>
		<li style="list-style: circle;"><p>6.0N.m (at 12V, 4.1A)</p></li>
		<li style="list-style: circle;"><p>7.3N.m (at 14.8V, 5.2A)</p></li>
	</ul></li>
</ul>
<ul>
	<li>No load speed</li>
	<li style="list-style: none; display: inline;"><ul>
		<li style="list-style: circle;"><p>58rpm (at 11.1V)</p></li>
		<li style="list-style: circle;"><p>63rpm (at 12V)</p></li>
		<li style="list-style: circle;"><p>78rpm (at 14.8V)</p></li>
	</ul></li>
	<li>Running Temperature : -5℃ ~ +80℃</li>
	<li style="font-weight: bold;">Voltage : 10 &nbsp;~ 14.8V (Recommended 
	 Voltage 12V)</li>
	<li>Command Signal : Digital Packet</li>
	<li>Protocol Type</li>
	<li style="list-style: none; display: inline;"><ul>
		<li style="list-style: circle;"><p>MX-64T (Half duplex Asynchronous 
		 Serial Communication (8bit,1stop, No Parity))</p></li>
		<li style="list-style: circle;"><p>MX-64R (RS485 Asynchronous Serial 
		 Communication (8bit,1stop, No Parity))</p></li>
	</ul></li>
	<li>Link (Physical)</li>
	<li style="list-style: none; display: inline;"><ul>
		<li style="list-style: circle;"><p>MX-64T (TTL Level Multi Drop 
		 Bus)</p></li>
		<li style="list-style: circle;"><p>MX-64R (RS485 Multi Drop Bus)</p></li>
	</ul></li>
</ul>
<ul>
	<li>ID : 254 ID (0~253)</li>
	<li>Feedback : Position, Temperature, Load, Input Voltage, etc.</li>
	<li>Material : Full Metal Gear, Engineering Plastic Body</li>
	<li>Standby current : 100 mA</li>
</ul>
<p><img src="MX-64_files/mx-64t_r.jpg" style="border: none;" alt="" border="0"></p>
<p>&nbsp;</p>
<table class="InfoTable" style="top: 70px; left: 0px;" cellspacing="0px" width="635">
	<colgroup>	<col style="width: 100%;">
	</colgroup>
	<tbody><tr>
		<td><p style="color: #ff0000; font-weight: normal;"><span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt; font-family: 굴림;" lang="EN-US">Precautions 
		 when connecting to power supply!</span></p>
		<p style="color: #ff0000; font-weight: normal;">- <span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt; font-family: 굴림;" lang="EN-US">For 
		 the stable power supply, we recommend using ROBOTIS controller 
		 or SMPS2Dynamixel.</span></p>
		<p style="color: #ff0000; font-weight: normal;">- <span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt; font-family: 굴림;" lang="EN-US">Connect 
		 your DYNAMIXEL to power supply while it’s off and turn on/off 
		 with the power switch.</span></p></td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<p>&nbsp;</p>
<h2>Control Table<a name="Control_Table" id="Control_Table"></a></h2>
<div>
<p style="font-size: 9pt;">Control Table consists of data regarding the 
 current status and operation, which exists inside of Dynamixel. The user 
 can control Dynamixel by changing data of Control Table via Instruction 
 Packet.</p>
<p style="font-weight: bold; margin-left: 0px; font-size: 9pt;">EEPROM 
 and RAM</p>
<p style="margin-left: 40px; font-size: 9pt;">Data in RAM area is reset 
 to the initial value whenever the power is turned on while data in EEPROM 
 area is kept once the value is set even if the power is turned off.</p>
<p style="margin-left: 0px; font-weight: bold; font-size: 9pt;">Address</p>
<p style="margin-left: 40px; font-size: 9pt;">It represents the location 
 of data. To read from or write data to Control Table, the user should 
 assign the correct address in the Instruction Packet.</p>
<p style="margin-left: 0px; font-weight: bold; font-size: 9pt;">Access</p>
<p style="margin-left: 40px; font-size: 9pt;">Dynamixel has two kinds of 
 data: Read-only data, which is mainly used for sensing, and Read-and-Write 
 data, which is used for driving.</p>
<p style="margin-left: 0px; font-weight: bold; font-size: 9pt;">Initial 
 Value </p>
<p style="margin-left: 40px; font-size: 9pt;">In case of data in the EEPROM 
 Area, the initial values on the right side of the below Control Table 
 are the factory default settings. In case of data in the RAM Area, the 
 initial values on the right side of the above Control Tables are the ones 
 when the power is turned on.</p>
<p style="margin-left: 0px; font-weight: bold; font-size: 9pt;">Highest/Lowest 
 Byte</p>
<p style="margin-left: 40px; font-size: 9pt;">In the Control table, some 
 data share the same name, but they are attached with (L) or (H) at the 
 end of each name to distinguish the address. This data requires 16bit, 
 but it is divided into 8bit each for the addresses (low) and (high). These 
 two addresses should be written with one Instruction Packet at the same 
 time.</p>
</div>
<p>&nbsp;</p>
<table cellspacing="0" width="728">
	<colgroup><col style="width: 5.777%;">
	<col style="width: 10.11%;">
	<col style="width: 25.416%;">
	<col style="width: 34.264%;">
	<col style="width: 6.593%;">
	<col style="width: 14.542%;">
	</colgroup><tbody><tr style="height: 47px;">
		<td style="border: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center;"><span style="font-weight: bold;">Area</span></p></td>
		<td style="border-top: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center; 
			 font-weight: bold;">Address (Hexadecimal)</p></td>
		<td style="border-top: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center; 
			 font-weight: bold;">Name</p></td>
		<td style="border-top: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center; 
			 font-weight: bold;">Description</p></td>
		<td style="border-top: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center; 
			 font-weight: bold;">Access</p></td>
		<td style="border-top: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;" bgcolor="#C0C0C0"><p style="text-align: center; 
			 font-weight: bold;">Initial Value</p>
		<p style="text-align: center; font-weight: bold;">(Hexadecimal)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td rowspan="21" style="border-left: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;"><p style="text-align: center;">E</p>
		<p style="text-align: center;">E</p>
		<p style="text-align: center;">P</p>
		<p style="text-align: center;">R</p>
		<p style="text-align: center;">O</p>
		<p style="text-align: center;">M</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_00">Model 
		 Number(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of model number</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">54 (0X36)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">1 (0X01)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_00">Model 
		 Number(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of model number</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">1 (0X01)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">2 (0X02)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_02">Version 
		 of Firmware</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Information on the version of 
		 firmware</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">3 (0X03)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_03">ID</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">ID of Dynamixel</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">1 (0X01)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">4 (0X04)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_04">Baud 
		 Rate</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Baud Rate of Dynamixel</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">34 (0X22)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">5 (0X05)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_05">Return 
		 Delay Time</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Return Delay Time</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">250 (0XFA)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">6 (0X06)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_06">CW 
		 Angle Limit(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of clockwise Angle 
		 Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">7 (0X07)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_06">CW 
		 Angle Limit(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of clockwise Angle 
		 Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 46px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">8 (0X08)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_06">CCW 
		 Angle Limit(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of counterclockwise 
		 Angle Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">255 (0XFF)</p></td>
	</tr>
	<tr style="height: 46px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">9 (0X09)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_06">CCW 
		 Angle Limit(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of counterclockwise 
		 Angle Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">15 (0X0F)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">11 (0X0B)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_0B">the 
		 Highest Limit Temperature</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Internal Limit Temperature</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">&nbsp;RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">80 (0X50)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">12 (0X0C)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_0C">the 
		 Lowest Limit Voltage</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest Limit Voltage</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">60 (0X3C)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">13 (0X0D)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_0C">the 
		 Highest Limit Voltage</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest Limit Voltage</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">160 (0XA0)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">14 (0X0E)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_0E">Max 
		 Torque(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Max. Torque</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">255 (0XFF)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">15 (0X0F)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_0E">Max 
		 Torque(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Max. Torque</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">3 (0X03)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">16 (0X10)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_10">Status 
		 Return Level</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Status Return Level</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">2 (0X02)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">17 (0X11)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_11">Alarm 
		 LED</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">LED for Alarm</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">36 (0X24)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">18 (0X12)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_12">Alarm 
		 Shutdown</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Shutdown for Alarm</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">36 (0X24)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">20 (0X14)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_061">Multi 
		 Turn Offset(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">multi-turn offset least significant 
		 byte (LSB)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">21 (0X12)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_061">Multi 
		 Turn Offset(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">multi-turn offset most significant 
		 byte (MSB)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">22 (0X12)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_0B1">Resolution 
		 Divider</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Resolution divider</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">1 (0X01)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td rowspan="30" style="border-left: Solid 1px #000000; border-right: Solid 1px #000000; 
			 border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p>
		<p style="text-align: center;">A</p>
		<p style="text-align: center;">M</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">24 (0X18)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_18">Torque 
		 Enable</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Torque On/Off</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">25 (0X19)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_19">LED</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">LED On/Off</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">26 (0X1A)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_1A">D 
		 Gain</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Derivative Gain</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">27 (0X1B)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_1A">I 
		 Gain</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Integral Gain</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">28 (0X1C)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_1A">P 
		 Gain</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Proportional Gain</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">32 (0X20)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">30 (0X1E)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_1E">Goal 
		 Position(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Goal Position</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">31 (0X1F)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_1E">Goal 
		 Position(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Goal Position</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">32 (0X20)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_20">Moving 
		 Speed(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Moving Speed</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">33 (0X21)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_20">Moving 
		 Speed(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Moving Speed</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">34 (0X22)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_22">Torque 
		 Limit(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Torque Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">ADD14</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">35 (0X23)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_22">Torque 
		 Limit(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Torque Limit</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">ADD15</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">36 (0X24)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_24">Present 
		 Position(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Current Position</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">37 (0X25)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_24">Present 
		 Position(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Current Position</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">38 (0X26)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_26">Present 
		 Speed(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Current Speed</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">39 (0X27)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_28">Present 
		 Speed(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Current Speed</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">40 (0X28)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_28">Present 
		 Load(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Current Load</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">41 (0X29)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_28">Present 
		 Load(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Current Load</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">42 (0X2A)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_2A">Present 
		 Voltage</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Current Voltage</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">43 (0X2B)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_2B">Present 
		 Temperature</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Current Temperature</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">-</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">44 (0X2C)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_2C">Registered</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Means if Instruction is registered</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">46 (0X2E)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_2E">Moving</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Means if there is any movement</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">R</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">47 (0X2F)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="#Actuator_Address_2F">Lock</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Locking EEPROM</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">48 (0X30)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_30">Punch(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Punch</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">49 (0X31)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_30">Punch(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Punch</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">68 (0X44)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_44">Current(L)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Lowest byte of Consuming Current</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">69 (0X45)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_44">Current(H)</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">Highest byte of Consuming Current</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">70 (0X46)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-family: 굴림; mso-ansi-language: EN-US; 
			 font-family: Gulim; mso-fareast-language: KO;"><span xml:lang="EN-US" style="mso-bidi-language: AR-SA;" lang="EN-US"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_46">Torque 
		 Control Mode Enable</a></span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">Torque control mode on/off</span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">71 (0X47)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-family: 굴림; mso-ansi-language: EN-US; 
			 font-family: Gulim; mso-fareast-language: KO;"><span xml:lang="EN-US" style="mso-bidi-language: AR-SA;" lang="EN-US"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_47">Goal 
		 Torque(L)</a></span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">Lowest byte of goal torque value</span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">72 (0X48)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-family: 굴림; mso-ansi-language: EN-US; 
			 font-family: Gulim; mso-fareast-language: KO;"><span xml:lang="EN-US" style="mso-bidi-language: AR-SA;" lang="EN-US"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_47">Goal 
		 Torque(H)</a></span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-size: 10.0pt; font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US">Highest byte of goal torque value</span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
	<tr style="height: 25px;">
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">73 (0X49)</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; font-family: Gulim;"><a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-64.htm#Actuator_Address_49">Goal 
		 Acceleration</a></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center; mso-bidi-font-family: 굴림; mso-ansi-language: EN-US; 
			 mso-fareast-language: KO;"><span style="mso-bidi-language: AR-SA;">Goal 
		 Acceleration</span></p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">RW</p></td>
		<td style="border-right: Solid 1px #000000; border-bottom: Solid 1px #000000;"><p style="text-align: center;">0 (0X00)</p></td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<p>&nbsp;</p>
<h2>Address Function Help</h2>
<h3>EEPROM Area</h3>
<p style="font-weight: bold;"><span style="font-weight: bold;">Model Number 
 <a name="Actuator_Address_00" id="Actuator_Address_00"></a></span></p>
<div>
<p>It represents the Model Number.</p>
</div>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold;">Firmware Version <a name="Actuator_Address_02" id="Actuator_Address_02"></a></p>
<div>
<p style="margin-left: 0px;">It represents the firmware version.</p>
</div>
<p style="font-weight: bold; margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold;">ID <a name="Actuator_Address_03" id="Actuator_Address_03"></a></p>
<div>
<p class="MsoNormal" style="margin-top: 0pt; margin-bottom: 0pt; font-size: 9pt; 
	 line-height: 21.60000228881836px; color: #000000; font-family: Gulim; 
	 font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; 
	 orphans: auto; text-align: start; text-indent: 0px; text-transform: none; 
	 white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;"><span style="font-size: 9pt; line-height: 21.60000228881836px; color: #000000; 
	 font-family: Gulim; font-style: normal; font-variant: normal; font-weight: normal; 
	 letter-spacing: normal; orphans: auto; text-transform: none; white-space: normal; 
	 widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;"><font style="font-size:9.000000pt;" color="black" size="1"><span>I</span>t 
 is a unique number to identify Dynamixel.</font></span></p>
<p style="margin-top: 0pt; margin-bottom: 0pt; font-size: 9pt; line-height: 21.60000228881836px; 
	 color: #000000; font-family: Gulim; font-style: normal; font-variant: normal; 
	 font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; 
	 text-indent: 0px; text-transform: none; white-space: normal; widows: auto; 
	 word-spacing: 0px; -webkit-text-stroke-width: 0px;">The range from 
 0 to 252 (0xFC) can be used, and, especially, 254(0xFE) is used as the 
 Broadcast ID.<br>
If the Broadcast ID is used to transmit Instruction Packet, we can command 
 to all Dynamixels.</p>
<p style="margin-top: 0pt; margin-bottom: 0pt; font-size: 9pt; line-height: 21.60000228881836px; 
	 color: #000000; font-family: Gulim; font-style: normal; font-variant: normal; 
	 font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; 
	 text-indent: 0px; text-transform: none; white-space: normal; widows: auto; 
	 word-spacing: 0px; -webkit-text-stroke-width: 0px;">&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 70px;" cellspacing="0px" width="543">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td>Please be careful not to duplicate the ID of connected Dynamixel.</td>
	</tr>
</tbody></table>
</div>
<p style="font-weight: bold; margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold;">Baud Rate <a name="Actuator_Address_04" id="Actuator_Address_04"></a></p>
<p style="margin-left: 0px;">It is the baud rate to communicate with controller. 
 It is available in between 0~254(0XFE).</p>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 0px;">If the data value is in between 0~249 :</p>
<p style="margin-left: 0px;"><span style="margin-left: 0px; font-weight: bold;">Baudrate(BPS) 
 &nbsp;= 2000000 / (Data + 1)</span></p>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="350" border="1">
	<colgroup><col width="50">
	<col width="110">
	<col width="110">
	<col width="80">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Data</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Set 
		 BPS</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Target 
		 BPS</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Tolerance</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td><p style="text-align: right; margin-right: 13px;">1000000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">1000000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">3</p></td>
		<td><p style="text-align: right; margin-right: 13px;">500000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">500000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">4</p></td>
		<td><p style="text-align: right; margin-right: 13px;">400000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">400000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">7</p></td>
		<td><p style="text-align: right; margin-right: 13px;">250000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">250000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">9</p></td>
		<td><p style="text-align: right; margin-right: 13px;">200000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">200000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">16</p></td>
		<td><p style="text-align: right; margin-right: 13px;">117647.1</p></td>
		<td><p style="text-align: right; margin-right: 13px;">115200.0</p></td>
		<td><p style="text-align: center;">&nbsp;-2.124 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">34</p></td>
		<td><p style="text-align: right; margin-right: 13px;">57142.9</p></td>
		<td><p style="text-align: right; margin-right: 13px;">57600.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.794 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">103</p></td>
		<td><p style="text-align: right; margin-right: 13px;">19230.8</p></td>
		<td><p style="text-align: right; margin-right: 13px;">19200.0</p></td>
		<td><p style="text-align: center;">&nbsp;-0.160 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">207</p></td>
		<td><p style="text-align: right; margin-right: 13px;">9615.4</p></td>
		<td><p style="text-align: right; margin-right: 13px;">9600.0</p></td>
		<td><p style="text-align: center;">&nbsp;-0.160 %</p></td>
	</tr>
</tbody></table>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 0px;">If the date value is over the 250 :</p>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="350" border="1">
	<colgroup><col width="50">
	<col width="110">
	<col width="110">
	<col width="80">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Data</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Set 
		 BPS</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Target 
		 BPS</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Tolerance</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">250</p></td>
		<td><p style="text-align: right; margin-right: 13px;">2250000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">2250000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">251</p></td>
		<td><p style="text-align: right; margin-right: 13px;">2500000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">2500000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">252</p></td>
		<td><p style="text-align: right; margin-right: 13px;">3000000.0</p></td>
		<td><p style="text-align: right; margin-right: 13px;">3000000.0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;0.000 %</p></td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="516">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Note : Maximum Baud Rate error of 3% is within the tolerance 
		 of UART communication.</p></td>
	</tr>
</tbody></table>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="font-weight: bold;">Return Delay Time <a name="Actuator_Address_05" id="Actuator_Address_05"></a></p>
<div>
<p>It is the delay time per data value that takes from the transmission 
 of Instruction Packet until the return of Status Packet. </p>
<p>0 to 254 (0xFE) can be used, and the delay time per data value is 2 
 usec. </p>
<p>That is to say, if the data value is 10, 20 usec is delayed. The initial 
 value is 250 (0xFA) (i.e., 0.5 msec).</p>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">CW/CCW Angle Limit <a name="Actuator_Address_06" id="Actuator_Address_06"></a></p>
<div>
<p>The angle limit allows the motion to be restrained.<br>
The range and the unit of the value is the same as Goal Position(Address 
 30, 31).</p>
<ul style="list-style: disc;">
	<li>CW Angle Limit: the minimum value of Goal Position(Address 30, 
	 31)</li>
	<li>CCW Angle Limit: the maximum value of Goal Position(Address 30, 
	 31)</li>
</ul>
<p>The following two modes can be set pursuant to the value of CW and CCW.</p>
<table style="border-collapse: separate;" cellspacing="0" width="310" border="1">
	<colgroup><col style="width: 39.659%;">
	<col style="width: 60.341%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Operation 
		 Type</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center;"><span style="font-weight: bold;">CW 
		 / </span><span style="text-align: center; font-weight: bold;">CCW</span></p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Wheel Mode</p></td>
		<td><p style="text-align: center;">&nbsp;both are 0</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Joint Mode</p></td>
		<td><p style="text-align: center;">neither at 0</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Multi-turn Mode</p></td>
		<td><p style="text-align: center;">both are 4095</p></td>
	</tr>
</tbody></table>
<p>The wheel mode can be used to wheel-type operation robots since motors 
 of the robots spin infinitely.</p>
<p>The joint mode can be used to multi-joints robot since the robots can 
 be controlled with specific angles.</p>
</div>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;"><span style="font-weight: bold;">Multi Turn 
 Offset <a name="Actuator_Address_061" id="Actuator_Address_061"></a></span></p>
<div>
<p>Adjusts position (zeroing). This value gets included in Present Position 
 (36).</p>
<p>Present position + multi-turn offset.</p>
<p>Initial value is 0 and range is from -24576 to 24576</p>
<p>A Dynamixel with a position of 2048 with an applied offset of 1024 outputs 
 a Present position of 3072.</p>
<p>&nbsp;&nbsp;<img src="MX-64_files/image32.jpg" alt="" style="border: none;" border="0"></p>
</div>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="484">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Note: This feature is only applied in multi-turn mode and 
		 ignored in other modes.</p></td>
	</tr>
</tbody></table>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;">Resolution Divider <a name="Actuator_Address_0B1" id="Actuator_Address_0B1"></a></p>
<div>
<p style="font-weight: normal;">It allows the user to change Dynamixel’s 
 resolution.</p>
<p style="font-weight: normal;">The default Resolution Divider Value is 
 set as 1. (1 ~ 4 available) </p>
<p style="font-weight: normal;">When resolution is lowered, revolutions 
 (in both directions) can be increased (up to 28 turns in each direction).</p>
<p style="font-weight: normal;">Present Position = Real Position / Resolution 
 Divider</p>
<p style="font-weight: normal;">For example, a Real Position of 2048 with 
 a Resolution Divider set as 2 will yield a Present Position value of 1024 
 (2048/2 = 1024). A Dynamixel with Resolution Divider set as 2 will have 
 a resolution 2048 for a single revolution. </p>
<p style="font-weight: normal;">The Present Position can be obtained while 
 Multi-turn Offset and Resolution Divider are taken into account. </p>
<p style="font-weight: normal;">Present position = (Real Position / Resolution 
 Divider) + Multi-turn Offset </p>
<p style="font-weight: bold;"><span style="font-weight: normal;">For example, 
 a Dynamixel with a Real Position of 2048 with a Resolution Divider set 
 as 4 and Multi-turn Offset as 1024 will yield a Present Position of 1535 
 ((2048/4) + 1024 = 1535).</span> </p>
<p style="font-weight: bold;"><img src="MX-64_files/image37.jpg" alt="" style="border: none;" border="0"></p>
</div>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="484">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Note: This feature is only applied in multi-turn mode and 
		 ignored in other modes.</p></td>
	</tr>
</tbody></table>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;">The Highest Limit Temperature <a name="Actuator_Address_0B" id="Actuator_Address_0B"></a></p>
<div>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="600">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Caution : Do not set the temperature lower/higher than the 
		 default value.</p>
		<p>When the temperature alarm shutdown occurs, wait 20 minutes 
		 to cool the temperature before re-use.</p>
		<p>Using the product when the temperature is high may and can cause 
		 damage.</p></td>
	</tr>
</tbody></table>
</div>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;">The Lowest (Highest) Limit Voltage <a name="Actuator_Address_0C" id="Actuator_Address_0C"></a></p>
<div>
<p style="font-size: 9pt; font-family: Arial, sans-serif;">It is the operation 
 range of voltage. </p>
<p style="font-size: 9pt; font-family: Arial, sans-serif;">50 to 250 (0x32 
 ~ 0x96) can be used. &nbsp;The unit is <span>0.1V.</span></p>
<p style="font-size: 9pt; font-family: Arial, sans-serif;">For example, 
 if the value is 80, it is 8V.</p>
<p style="font-size: 9pt; font-family: Arial, sans-serif;">If Present Voltage 
 (Address42) is out of the range, Voltage Range Error Bit (Bit0) of Status 
 Packet is returned as ‘1’ and Alarm is triggered as set in the addresses 
 17 and 18.</p>
</div>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold; margin-left: 0px;">Max Torque <a name="Actuator_Address_0E" id="Actuator_Address_0E"></a></p>
<div>
<p style="margin-left: 0px;">It is the torque value of maximum output. 
 0 to 1023 (0x3FF) can be used, and the unit is about 0.1%. </p>
<p style="margin-left: 0px;">For example, Data 1023 (0x3FF) means that 
 Dynamixel will use 100% of the maximum torque it can produce while Data 
 512 (0x200) means that Dynamixel will use 50% of the maximum torque. When 
 the power is turned on, Torque Limit (Addresses 34 and 35) uses the value 
 as the initial value.</p>
</div>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;">Status Return Level <a name="Actuator_Address_10" id="Actuator_Address_10"></a></p>
<div>
<p style="margin-left: 0px;">It decides how to return Status Packet. There 
 are three ways like the below table.</p>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="500" border="1">
	<colgroup><col style="width: 24.182%;">
	<col style="width: 75.818%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Return 
		 of Status Packet</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;No return against 
		 all commands (Except PING Command)</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;Return only for 
		 the READ command</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">2</p></td>
		<td><p style="text-align: center;">&nbsp;&nbsp;Return for all commands</p></td>
	</tr>
</tbody></table>
<p style="margin-left: 40px;">&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>When Instruction Packet is Broadcast ID, Status Packet is 
		 not returned regardless of Status Return Level.</p></td>
	</tr>
</tbody></table>
</div>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="font-weight: bold;">Alarm LED <a name="Actuator_Address_11" id="Actuator_Address_11"></a></p>
<p style="font-weight: bold;"><span style="font-weight: bold;">Alarm Shutdown 
 <a name="Actuator_Address_12" id="Actuator_Address_12"></a></span></p>
<div>
<p style="margin-left: 0px;">Dynamixel can protect itself by detecting 
 errors occur during the operation. &nbsp;</p>
<p style="margin-left: 0px;">The errors can be set are as the table below.</p>
<p style="margin-left: 0px;">&nbsp;</p>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="700" border="1">
	<colgroup><col style="width: 6.852%;">
	<col style="width: 17.4%;">
	<col style="width: 75.748%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Bit</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Name</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Contents</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 7</p></td>
		<td><p style="text-align: center;">0</p></td>
		<td><p style="text-align: center;">-</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 6</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">Instruction&nbsp;Error</span><span> 
		 </span></td>
		<td><p style="line-height: 21.60000228881836px; orphans: auto; 
				 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff;">When 
		 undefined Instruction is transmitted or the Action command is 
		 delivered without</p>
		<p style="line-height: 21.60000228881836px; orphans: auto; widows: auto; 
			 -webkit-text-stroke-width: 0px; background-color: #ffffff;">&nbsp;&nbsp;the 
		 reg_write command</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 5</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">Overload&nbsp;Error</span><span> 
		 </span></td>
		<td><span style="line-height: 21.60000228881836px; orphans: auto; 
					 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">When 
		 the current load cannot be controlled with the set maximum torque</span><span> 
		 </span></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 4</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">CheckSum&nbsp;Error</span><span> 
		 </span></td>
		<td><span style="line-height: 21.60000228881836px; orphans: auto; 
					 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">When 
		 the Checksum of the transmitted Instruction Packet is invalid</span><span> 
		 </span></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 3</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">Range&nbsp;Error</span><span> 
		 </span></td>
		<td><span style="line-height: 21.60000228881836px; orphans: auto; 
					 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">When 
		 the command is given beyond the range of usage</span><span> </span></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 2</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">OverHeating&nbsp;Error</span><span> 
		 </span></td>
		<td><p style="line-height: 21.60000228881836px; orphans: auto; 
				 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff;">When 
		 the internal temperature is out of the range of operating temperature 
		 set in</p>
		<p style="line-height: 21.60000228881836px; orphans: auto; widows: auto; 
			 -webkit-text-stroke-width: 0px; background-color: #ffffff;">&nbsp;&nbsp;the 
		 Control Table</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 1</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">Angle 
		 Limit&nbsp;Error</span><span> </span></td>
		<td><p style="line-height: 21.60000228881836px; orphans: auto; 
				 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff;">&nbsp;When 
		 Goal Position is written with the value that is not between CW 
		 Angle Limit and CCW</p>
		<p style="line-height: 21.60000228881836px; orphans: auto; widows: auto; 
			 -webkit-text-stroke-width: 0px; background-color: #ffffff;">&nbsp;&nbsp;Angle 
		 Limit</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">Bit 0</p></td>
		<td><span style="line-height: normal; orphans: auto; widows: auto; 
					 -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">Input 
		 Voltage Error</span><span> </span></td>
		<td><span style="line-height: 21.60000228881836px; orphans: auto; 
					 widows: auto; -webkit-text-stroke-width: 0px; background-color: #ffffff; 
					 display: inline	 ! important ; float: none;">&nbsp;When 
		 the applied voltage is out of the range of operating voltage set 
		 in the Control Table</span><span> </span></td>
	</tr>
</tbody></table>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 0px;">It is possible to make duplicate set since 
 the function of each bit is run by &nbsp;the logic of ‘OR’. That is, if 
 0X05 (binary 00000101) is set, both Input Voltage Error and Overheating 
 Error can be detected.</p>
<p style="margin-left: 0px;">If errors occur, in case of Alarm LED, the 
 LED blinks; in case of Alarm Shutdown, the motor output becomes 0 % by 
 making the value of Torque Limit(Address 34, 35) as 0.</p>
</div>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 
<h2 style="font-weight: normal;">RAM Area</h2>
<p style="font-weight: bold;">Torque Enable <a name="Actuator_Address_18" id="Actuator_Address_18"></a></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="429" border="1">
	<colgroup><col style="width: 12.11%;">
	<col style="width: 87.89%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p>&nbsp;Keeps Torque from generating by interrupting the power 
		 of motor.</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td>&nbsp;Generates Torque by impressing the power to the motor.</td>
	</tr>
</tbody></table>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">LED <a name="Actuator_Address_19" id="Actuator_Address_19"></a></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="426" border="1">
	<colgroup><col style="width: 9.299%;">
	<col style="width: 37.941%;">
	<col style="width: 52.76%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center;">Bit</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit7</p></td>
		<td>&nbsp;</td>
		<td>&nbsp;</td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit6</p></td>
		<td>&nbsp;</td>
		<td>&nbsp;</td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit5</p></td>
		<td>&nbsp;</td>
		<td>&nbsp;</td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit4</p></td>
		<td>&nbsp;</td>
		<td>&nbsp;</td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit3</p></td>
		<td>&nbsp;</td>
		<td>&nbsp;</td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit2</p></td>
		<td><p style="text-align: center;">BLUE LED</p></td>
		<td><p style="text-align: center;">&nbsp;<span xml:lang="EN-US" style="font-size: 9.0pt; 
														 line-height: 115%; 
														 font-family: 'Times New Roman', serif; 
														 mso-fareast-font-family: 굴림; 
														 mso-font-kerning: 0pt; 
														 mso-ansi-language: EN-US; 
														 mso-fareast-language: KO; 
														 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1">When 
		 <i style="mso-bidi-font-style: normal;">Bit</i> is set the </font></span>blue<span xml:lang="EN-US" style="font-size: 9.0pt; line-height: 115%; 
		 font-family: 'Times New Roman', serif; mso-fareast-font-family: 굴림; 
		 mso-font-kerning: 0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
		 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1"> LED turns on</font></span> </p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit1</p></td>
		<td><p style="text-align: center;">GREEN LED</p></td>
		<td><p style="text-align: center;">&nbsp;<span xml:lang="EN-US" style="font-size: 9.0pt; 
														 line-height: 115%; 
														 font-family: 'Times New Roman', serif; 
														 mso-fareast-font-family: 굴림; 
														 mso-font-kerning: 0pt; 
														 mso-ansi-language: EN-US; 
														 mso-fareast-language: KO; 
														 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1">When 
		 <i style="mso-bidi-font-style: normal;">Bit</i> is set the </font></span>green<span xml:lang="EN-US" style="font-size: 9.0pt; line-height: 115%; 
		 font-family: 'Times New Roman', serif; mso-fareast-font-family: 굴림; 
		 mso-font-kerning: 0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
		 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1"> LED turns on</font></span> </p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">bit0</p></td>
		<td><p style="text-align: center;">RED LED</p></td>
		<td><p style="text-align: center;">&nbsp;<span xml:lang="EN-US" style="font-size: 9.0pt; 
														 line-height: 115%; 
														 font-family: 'Times New Roman', serif; 
														 mso-fareast-font-family: 굴림; 
														 mso-font-kerning: 0pt; 
														 mso-ansi-language: EN-US; 
														 mso-fareast-language: KO; 
														 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1">When 
		 <i style="mso-bidi-font-style: normal;">Bit</i> is set the</font></span><span xml:lang="EN-US" style="font-size: 9.0pt; line-height: 115%; 
		 font-family: 'Times New Roman', serif; mso-fareast-font-family: 굴림; 
		 mso-font-kerning: 0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
		 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1"> </font></span>red<span xml:lang="EN-US" style="font-size: 9.0pt; 
													 line-height: 115%; 
													 font-family: 'Times New Roman', serif; 
													 mso-fareast-font-family: 굴림; 
													 mso-font-kerning: 0pt; 
													 mso-ansi-language: EN-US; 
													 mso-fareast-language: KO; 
													 mso-bidi-language: AR-SA;" lang="EN-US"><font style="font-size:9pt;" size="1"> 
		 LED turns on</font></span> </p></td>
	</tr>
</tbody></table>
</div>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold; font-size: 10pt;"><span style="font-size: 9pt;"><font style="font-size:9pt;" size="1">PID 
 Gain</font></span><a name="Actuator_Address_1A" id="Actuator_Address_1A"></a></p>
<p>MX series will use the PID controller as a main control method.</p>
<p>P gain refers to the value of proportional band.</p>
<p><span style="font-weight: normal; font-size: 9pt;"><font style="font-size:9pt;" size="1">I gain refers to 
 the value of integral action.</font></span></p>
<p>D Gain refers to the value of derivative action.</p>
<p>Gains values are in between 0~254.</p>
<p><img src="MX-64_files/pidcontrol.png" alt="" style="border: none;" height="236" width="712" border="0"></p>
<p style="margin-left: 120px;"><img src="MX-64_files/dynamixel_pid.png" alt="" style="border: none;" height="74" width="212" border="0"></p>
<div>
<table style="border-bottom: 1px outset; border-left: 1px outset; border-top: 1px outset; 
		 border-right: 1px outset; left: 0px; top: 6691px; height: 394px;" cellspacing="0" width="772">
	<colgroup>	<col width="563">
	</colgroup>
	<tbody><tr style="height: 384px;">
		<td style="border-bottom: 4px ridge; border-left: 4px ridge; border-top: 4px ridge; 
			 border-right: 4px ridge;"><p style="margin-left: 12px; font-size: 9pt; 
											 font-weight: bold;">※ <b><span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt;" lang="EN-US">The 
		 relationship between Compliance Slop and PID</span></b></p>
		<table class="BlackHeaderRow" style="margin-left: 12px; left: 0px; 
				 top: 30px; height: 159px;" cellspacing="0px" width="150">
			<colgroup>	<col style="width: 45.264%;">
				<col width="82">
			</colgroup>
			<tbody><tr class="t1st">
				<td><p style="font-size: 9pt; font-family: Gulim;">Slope</p></td>
				<td><span><font style="font-size: 9pt;" size="2">P Gain</font></span></td>
			</tr>
			<tr class="t2Row">
				<td><span>8</span></td>
				<td><span>128</span></td>
			</tr>
			<tr class="t1Row">
				<td><span>16</span></td>
				<td><span>64</span></td>
			</tr>
			<tr class="t2Row">
				<td><span>32</span></td>
				<td><span>32</span></td>
			</tr>
			<tr class="t1Row">
				<td><span>64</span></td>
				<td><span>16</span></td>
			</tr>
			<tr class="t2Row">
				<td><span>128</span></td>
				<td><span>8</span></td>
			</tr>
		</tbody></table>
		<p style="margin-left: 12px; font-size: 9pt; mso-bidi-font-size: 10.0pt; 
			 font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">The 
		 less the P gain, The larger the back lash, and the weaker the 
		 amount of output near goal position.</font></span></p>
		<p style="margin-left: 12px; font-size: 9pt; mso-bidi-font-size: 10.0pt; 
			 font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">At 
		 some extent, it is like a combined concept of margine and slope.</font></span></p>
		<p style="margin-left: 12px; font-size: 9pt; mso-bidi-font-size: 10.0pt; 
			 font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">It 
		 does not exactly match the previous concept of compliance. So 
		 it is obvious if you see the difference in terms of motion.</font></span></p>
		<p style="margin-left: 12px; font-size: 9pt; font-weight: bold;">※ 
		 <b><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
					 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; 
					 mso-fareast-language: KO; mso-bidi-language: AR-SA;" lang="EN-US">Explanation 
		 for PID required.</span></b> </p>
		<p style="margin-left: 12px; mso-bidi-font-size: 10.0pt; font-size: 9pt; 
			 font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">For 
		 the brief explanation about general PID, please refer to the website(link) 
		 below.</font></span></p>
		<p style="margin-left: 12px; font-family: Gulim; font-size: 9pt;"><a href="http://en.wikipedia.org/wiki/PID_controller" style="font-family: Gulim; 
		 font-size: 9pt;">http://en.wikipedia.org/wiki/PID_controller</a></p>
		<p style="margin-left: 12px; font-size: 9pt; mso-bidi-font-size: 10.0pt; 
			 font-family: Gulim;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">FYI, 
		 PID control theory is not only limited to the control of motor(actuator) 
		 but is a generic theory that can be applied to all kinds of control.</font></span></p></td>
	</tr>
</tbody></table>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">Goal Position <a name="Actuator_Address_1E" id="Actuator_Address_1E"></a></p>
<p style="margin-left: 0px;">It is a position value of destination.</p>
<p style="margin-left: 0px;">0 to 4095 (0xFFF) is available. &nbsp;The 
 unit is 0.088 degree.</p>
<p style="margin-left: 0px; font-family: Arial, sans-serif;">If Goal Position 
 is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is 
 returned as ‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.</p>
<p style="font-weight: bold;"><img src="MX-64_files/mx-28_angle.png" alt="" style="border: none;" height="219" width="266" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold;">Moving Speed <a name="Actuator_Address_20" id="Actuator_Address_20"></a></p>
<ul style="list-style: disc;">
	<li><p style="margin-left: 0px;">Joint Mode, &nbsp;Multi-Turn mode<br>
	It is a moving speed to Goal Position.<br>
	0~1023 (0X3FF) can be used, and the unit is about 0.114rpm.<br>
	If it is set to 0, it means the maximum rpm of the motor is used without 
	 controlling the speed.<br>
	If it is 1023, it is about 117.07rpm.<br>
	For example, if it is set to 300, it is about 34.33 rpm.</p></li>
</ul>
<p style="margin-left: 0px;">&nbsp;</p>
<ul style="list-style: disc;">
	<li><p style="margin-left: 0px;">Wheel Mode<br>
	It is a moving speed to Goal direction.<br>
	0~2047 (0X7FF) can be used, and the unit is about 0.114rpm.<br>
	If a value in the range of 0~1023 is used, it is stopped by setting 
	 to 0 while rotating to CCW direction.<br>
	If a value in the range of 1024~2047 is used, it is stopped by setting 
	 to 1024 while rotating to CW direction.<br>
	That is, the 10th bit becomes the direction bit to control the direction.<br>
	</p></li>
</ul>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Note: This mode allows to check max rpm. Any values set 
		 higher than max rpm will not take effect.</p></td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<p style="font-weight: bold;">Torque Limit <a name="Actuator_Address_22" id="Actuator_Address_22"></a></p>
<div>
<p>It is the value of the maximum torque limit. &nbsp;</p>
<p>0 to 1023 (0x3FF) is available, and the unit is about 0.1%. &nbsp;</p>
<p>For example, if the value is 512, it is about 50%; that means only 50% 
 of the maximum torque will be used.<br>
If the power is turned on, the value of Max Torque (Address 14, 15) is 
 used as the initial value.</p>
<p>&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Notes: If the function of Alarm Shutdown is triggered, the 
		 motor loses its torque because the value becomes 0. &nbsp;At this 
		 moment, if the value is changed to the value other than 0, the 
		 motor can be used again.</p></td>
	</tr>
</tbody></table>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">Present Position <a name="Actuator_Address_24" id="Actuator_Address_24"></a></p>
<p style="margin-left: 0px;">It is the current position value of Dynamixel. 
 &nbsp;</p>
<p style="margin-left: 0px;">The range of the value is 0~4095 (0xFFF), 
 and the unit is 0.088 degree.</p>
<p style="font-weight: bold;"><img src="MX-64_files/mx-28_angle.png" alt="" style="border: none;" height="219" width="266" border="0"></p>
<p style="font-weight: normal;">In multi-turn mode range is from -28672 
 to 28672 with unit values dependent on Resolution Divider (0.088 * Resolution 
 Divider)</p>
<p style="font-weight: normal;">&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Note: in multi-turn mode Present position depends on resolution 
		 divider and multi-turn offset For more information turn to the 
		 section on <a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-12w.htm#Actuator_Address_061">Multi Turn 
		 offset</a> and <a href="http://support.robotis.com/en/product/dynamixel/mx_series/mx-12w.htm#Actuator_Address_0B1">Resolution 
		 Divider</a></p></td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<p style="font-weight: bold;">Present Speed <a name="Actuator_Address_26" id="Actuator_Address_26"></a></p>
<p style="margin-left: 0px;">Is the current moving speed.</p>
<p style="margin-left: 0px;">0~2047 (0x000~0X7FF) can be used.</p>
<p style="margin-left: 0px;">If a value is in the rage of 0~1023 then the 
 motor rotates to the CCW direction.</p>
<p style="margin-left: 0px;">If a value is in the rage of 1024~2047 then 
 the motor rotates to the CW direction.</p>
<p style="margin-left: 0px;">The 10th bit becomes the direction bit to 
 control the direction; 0 and 1024 are equal.</p>
<p style="margin-left: 0px;">The value unit is about 0.11rpm.</p>
<p style="margin-left: 0px;">For example, if it is set to 300 then the 
 motor is moving to the CCW direction at a rate of about 34.33rpm.</p>
<p style="font-weight: bold;">&nbsp;</p>
<p style="font-weight: bold;">Present Load <a name="Actuator_Address_28" id="Actuator_Address_28"></a></p>
<div>
<p style="margin-left: 0px;">It means currently applied load.</p>
<p style="margin-left: 0px;">The range of the value is 0~2047, and the 
 unit is about 0.1%.</p>
<p style="margin-left: 0px;">If the value is 0~1023, it means the load 
 works to the CCW direction.</p>
<p style="margin-left: 0px;">If the value is 1024~2047, it means the load 
 works to the CW direction.</p>
<p style="margin-left: 0px;">That is, the 10th bit becomes the direction 
 bit to control the direction, and 1024 is equal to 0.</p>
<p style="margin-left: 0px;">For example, the value is 512, it means the 
 load is detected in the direction of CCW about 50% of the maximum torque.</p>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 0px;"><img src="MX-64_files/dxl_presentload.png" alt="" style="border: none;" height="102" width="700" border="0"></p>
<p style="margin-left: 0px;">&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Notes: Current load is inferred from the internal torque 
		 value, not from Torque sensor etc.</p>
		<p>For that reason, it cannot be used to measure weight or torque; 
		 however, it must be used only to detect which direction the force 
		 works. </p></td>
	</tr>
</tbody></table>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">Present Voltage <a name="Actuator_Address_2A" id="Actuator_Address_2A"></a></p>
<div>
<p style="margin-left: 0px;">It is the size of the current voltage supplied. 
 </p>
<p style="margin-left: 0px;">This value is 10 times larger than the actual 
 voltage. For example, when 10V is supplied, the data value is 100 (0x64)</p>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold; margin-left: 0px;">Present Temperature <a name="Actuator_Address_2B" id="Actuator_Address_2B"></a></p>
<div>
<p>It is the internal temperature of Dynamixel in Celsius. </p>
<p>Data value is identical to the actual temperature in Celsius. For example, 
 if the data value is 85 (0x55), the current internal temperature is 85℃.</p>
</div>
<p style="margin-left: 40px;">&nbsp;</p>
<p>&nbsp;</p>
<p style="font-weight: bold;">Registered Instruction <a name="Actuator_Address_2C" id="Actuator_Address_2C"></a></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="350" border="1">
	<colgroup><col style="width: 14.639%;">
	<col style="width: 85.361%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p>&nbsp;There are no commands transmitted by REG_WRITE</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td>&nbsp;There are commands transmitted by REG_WRITE.</td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 70px;" cellspacing="0px" width="543">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td>Notes: If ACTION command is executed, the value is changed 
		 into 0.</td>
	</tr>
</tbody></table>
</div>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="font-weight: bold;">Moving <a name="Actuator_Address_2E" id="Actuator_Address_2E"></a></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="340" border="1">
	<colgroup><col style="width: 15.07%;">
	<col style="width: 84.93%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p>&nbsp;Goal position command execution is completed.</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td>&nbsp;Goal position command execution is in progress.</td>
	</tr>
</tbody></table>
</div>
<p>&nbsp;</p>
<p style="font-weight: bold;">Lock <a name="Actuator_Address_2F" id="Actuator_Address_2F"></a></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="324" border="1">
	<colgroup><col style="width: 15.912%;">
	<col style="width: 84.088%;">
	</colgroup><tbody><tr>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p>&nbsp;EEPROM area can be modified.</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td>&nbsp;EEPROM area cannot be modified.</td>
	</tr>
</tbody></table>
<p>&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 70px;" cellspacing="0px" width="543">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td>Caution: If Lock is set to 1, the power must be turned off 
		 and then turned on again to change into 0.</td>
	</tr>
</tbody></table>
</div>
<p><br>
</p>
<p style="font-weight: bold; font-size: 10pt;"><span style="font-size: 9pt;"><font style="font-size:9pt;" size="1">Punch</font></span><a name="Actuator_Address_30" id="Actuator_Address_30"></a></p>
<p>Current to drive motor is at minimum.</p>
<p>Can choose vales from 0x00 to 0x3FF.</p>
<p>&nbsp;</p>
<p style="font-weight: bold; font-size: 10pt;">Current<a name="Actuator_Address_44" id="a1"></a></p>
<p>Value at 2048(0x800) when current is consumption is idle.</p>
<p>Values higher than 2048(0x800) during positive current flow</p>
<p>Values lower than 2048(0x800) during negative current flow</p>
<p>The following is a method to calculate current flow</p>
<p>&nbsp;</p>
<p>I = ( 4.5mA ) * (CURRENT <span xml:lang="KO" lang="KO">–</span> 2048 
 ) in amps unit (A).</p>
<p>For example, 68 gives a value of 2148, which corresponds to 450mA of 
 current flow.</p>
<p>&nbsp;</p>
<p><img src="MX-64_files/mx_current.jpg" alt="" style="border: none;" border="0"></p>
<p>&nbsp;</p>
<p style="font-size: 9pt; font-weight: bold;"><span style="font-size: 9pt; 
													 font-weight: bold;"><font style="font-size:9pt;" size="1">Torque 
 Control Mode Enable<a name="Actuator_Address_46" id="a4"></a></font></span></p>
<div>
<table style="border-collapse: separate; border-collapse: separate;" cellspacing="0" width="45.383%" border="1">
	<colgroup>	<col width="90">
		<col width="495">
	</colgroup>
	<tbody><tr>
		<td bgcolor="#FFFFA8"><p style="font-weight: bold; text-align: center;">Value</p></td>
		<td bgcolor="#FFFFA8"><p style="text-align: center; font-size: 9pt; 
								 font-weight: bold;">Meaning</p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">0</p></td>
		<td><p style="font-size: 9pt;"><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
											 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; 
											 mso-fareast-language: KO; 
											 mso-bidi-language: AR-SA;" lang="EN-US">Turn 
		 off the torque mode. Executes Joint mode or Wheel mode.</span><span style="mso-bidi-font-family: 굴림; mso-ansi-language: EN-US; mso-fareast-language: KO; 
		 mso-bidi-language: AR-SA;"> </span></p></td>
	</tr>
	<tr>
		<td><p style="text-align: center;">1</p></td>
		<td><span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt;" lang="EN-US">Turn 
		 on the torque mode. Cannot control the position or moving speed 
		 but only Torque.</span></td>
	</tr>
</tbody></table>
<p class="MsoNormal"><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
							 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; 
							 mso-fareast-language: KO; mso-bidi-language: AR-SA;" lang="EN-US">When 
 Torque Control Mode Enable is at 1, DYNAMIXEL behaves like the followings</span> 
 </p>
<p class="MsoNormal"><span xml:lang="EN-US" lang="EN-US">1. </span><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
	 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
	 mso-bidi-language: AR-SA;" lang="EN-US">DYNAMIXEL does not control the position 
 or the moving speed.</span> </p>
<p class="MsoNormal"><span xml:lang="EN-US" lang="EN-US">2.</span> <span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
	 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
	 mso-bidi-language: AR-SA;" lang="EN-US">DYNAMIXEL controls with goal torque value.</span> 
 </p>
<p class="MsoNormal"><span xml:lang="EN-US" lang="EN-US">3. </span><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
	 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
	 mso-bidi-language: AR-SA;" lang="EN-US">DYNAMIXEL does not react to whatever value 
 in Goal position and Goal speed.</span> </p>
<p class="MsoNormal"><span xml:lang="EN-US" lang="EN-US">4.</span> <span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
	 mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: KO; 
	 mso-bidi-language: AR-SA;" lang="EN-US">Because position/moving speed is not controller, 
 DYNAMIXEL behaves as if it is in the wheel mode.</span> </p>
</div>
<p>&nbsp;</p>
<p style="font-size: 9pt; font-weight: bold;">Goal Torque<a name="Actuator_Address_47" id="a2"></a></p>
<div>
<p class="MsoNormal" style="font-size: 9pt; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">These are the goal torque value</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">You can use 0 ~ 2047 (0x7FF), and the 
 unit is 4.5mA.</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">(torque is directly proportional to 
 the current value.)</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">If you use from 0~1023, torque is on 
 toward CCW, and when you set it to 0, it stops.</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">If you use from 1024~2047, torque is 
 on toward CW, and when you set it to 1024, it stops.</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">That means, 10<sup>th</sup> bit becomes 
 the direction bit, which controls direction.</span></p>
<p class="MsoNormal" style="text-align: left; mso-bidi-font-size: 10.0pt;"><span xml:lang="EN-US" lang="EN-US">Goal Torque cannot be bigger than Torque 
 Limit(34,35)</span></p>
</div>
<p>&nbsp;</p>
<p style="font-size: 9pt; font-weight: bold;">Goal Acceleration<a name="Actuator_Address_49" id="a3"></a></p>
<div>
<p style="font-family: Gulim; font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US"><font style="font-size:9pt;" size="1">T</font></span><span xml:lang="EN-US" style="mso-bidi-font-size: 10.0pt;" lang="EN-US">his 
 is Goal Acceleration value.</span></p>
<p class="MsoNormal" style="font-family: Gulim; font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US">I</span><span xml:lang="EN-US" style="mso-bidi-font-family: 'Times New Roman'; 
												 mso-font-kerning: .5pt; 
												 mso-ansi-language: EN-US; 
												 mso-fareast-language: AR-SA; 
												 mso-bidi-language: AR-SA;" lang="EN-US">t 
 can be used from 0~254(0XFE), and the unit is approximately 8.583 Degree 
 / sec^2.</span> </p>
<p class="MsoNormal" style="mso-bidi-font-size: 10.0pt; font-family: Gulim; 
	 font-weight: normal; font-size: 9pt;"><b style="font-weight: normal;"><span xml:lang="EN-US" lang="EN-US">When it is set to 0, there is no control 
 over acceleration and moves with the maximum acceleration of the motor.</span></b></p>
<p class="MsoNormal" style="mso-bidi-font-size: 10.0pt; font-family: Gulim; 
	 font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US">When the goal 
 speead is set to 0, there is no control over acceleration and moves with 
 the maximum acceleration of the motor.</span></p>
<p class="MsoNormal" style="mso-bidi-font-size: 10.0pt; font-family: Gulim; 
	 font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US">When it is set 
 to 254, it becomes 2180 Degree / sec^2</span></p>
<p class="MsoNormal" style="mso-bidi-font-size: 10.0pt; font-family: Gulim; 
	 font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US">For example, 
 the current speed of Dynamixel is 0, and Goal acceleration is 10,</span></p>
<p class="MsoNormal" style="mso-bidi-font-size: 10.0pt; font-family: Gulim; 
	 font-size: 9pt;"><span xml:lang="EN-US" lang="EN-US">The speed of 
 Dynamixel after 1 second will be 14.3 RPM.</span></p>
</div>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="margin-left: 40px;">&nbsp;</p>
<h2>Option Frame</h2>
<p style="margin-left: 0px;">The types of MX-64 option frame are as follows.</p>
<h4 style="margin-left: 40px;">FR05-B101</h4>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_fr05-b101.png" alt="" style="border: none;" height="96" width="253" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<h4 style="margin-left: 40px;">FR05-F101_FR05-X101</h4>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_fr05-f101_fr05-x101.png" alt="" style="border: none;" height="117" width="501" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<h4 style="margin-left: 40px;">FR05-H101</h4>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_fr05-h101.png" alt="" style="border: none;" height="155" width="275" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<h4 style="margin-left: 40px;">FR05-S101</h4>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_fr05-s101.png" alt="" style="border: none;" height="134" width="280" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="margin-left: 40px;">&nbsp;</p>
<h2>Horn</h2>
<p style="margin-left: 0px;">The types of MX-64 Horn are as follows.</p>
<h4 style="margin-left: 40px;">HN05-N102</h4>
<h4 style="margin-left: 40px;"><img src="MX-64_files/rx-64_hn05-t101_01.png" alt="" style="border: none;" height="96" width="75" border="0"></h4>
<h4 style="margin-left: 40px;">&nbsp;</h4>
<h4 style="margin-left: 40px;">HN05-I101</h4>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_hn05-i101.png" alt="" style="border: none;" height="95" width="255" border="0"></p>
<p style="margin-left: 40px;">&nbsp;</p>
<table class="InfoTable" style="left: 0px; top: 1919px;" cellspacing="0px" width="700">
	<colgroup><col style="width: 100%;">
	</colgroup><tbody><tr>
		<td><p>Ref: place careful attention when aligning the horn of the 
		 RX-64 to prevent misalignment.</p></td>
	</tr>
</tbody></table>
<p style="margin-left: 40px;">&nbsp;</p>
<p style="margin-left: 40px;">&nbsp;</p>
<h2>Combination</h2>
<p style="margin-left: 0px;">The following example shows the combination 
 structure of option frames and horns.</p>
<p style="margin-left: 0px;">&nbsp;</p>
<p style="margin-left: 40px;"><img src="MX-64_files/rx-64_device_combination.png" alt="" style="border: none;" height="387" width="436" border="0"></p>
<h2>Dimension</h2>
<p style="margin-left: 40px;">Drawing Information &nbsp;: <a href="http://support.robotis.com/en/baggage_files/dynamixel/rx64dimension.pdf" target="_blank"><img src="MX-64_files/btn_download.gif" alt="" style="border: none;" height="16" width="70" border="0"></a> &nbsp;RX64Dimension.pdf</p>
<p style="margin-left: 40px;">&nbsp;</p>
<h2>Videos</h2>
<p style="font-size: 12pt;">HOW TO REPLACE GEARS</p>
<p style="font-size: 12pt;"><object height="315" width="560">
<param name="movie" value="http://www.youtube.com/v/k5n7lexSvgM?hl=en_US&amp;version=3">
<param name="allowFullScreen" value="true">
<param name="allowscriptaccess" value="always">
<embed src="MX-64_files/k5n7lexSvgM.swf" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" height="315" width="560"></object></p>
<div style="width: 100%; position: relative;" id="footer">
	<br>
	
	<hr align="center">
	<p style="text-align: right; font-size: 8pt; color: #808080;"><a href="mailto:contactus2@robotis.com">Error 
	 Report</a></p>
	<p style="text-align: right; font-size: 8pt; color: #808080;">Copyrights 
	 (c) 2010 &nbsp;<a href="http://www.robotis.com/" target="_top">ROBOTIS</a> 
	 &nbsp;All rights reserved.</p>
</div>
<script type="text/javascript" language="javascript1.2">//<![CDATA[
<!--
if (window.writeIntopicBar)
	writeIntopicBar(0);


highlightSearch();
//-->
//]]></script>


</body></html>